共查询到7条相似文献,搜索用时 15 毫秒
1.
The rhythmic movement is a spontaneous behavior due to the central pattern generator(CPG).At present,the CPG model only shows the spontaneous behavior,butdoes not refer to the instruction regulation role of the cerebral cortex.In this paper,a modified model based on the Matsuoka neural oscillator theory is presented to better show the regulation role of the cerebral cortex signal to the CPG neuronal network.The complex interaction between the in put signal and other parameters in the CPG networkis establish... 相似文献
2.
金山 《应用数学和力学(英文版)》1987,8(6):547-559
In this paper, we study singular perturbation problems of some semi-linear second order elliptic equations with nonlinear boundary value conditions: where ε is a small positive parameter and u/ l is a directional derivative, which lies on an oblique vector (x,ε). We have given a construction of the asymptotic solutions and proof of their asymptotic correctness, which is based on the principle of contraction mapping. 相似文献
3.
As a typical rhythmic movement, human being’s rhythmic gait movement can be generated by a central pattern generator (CPG) located in a spinal cord by self-oscillation. Some kinds of gait movements are caused by gait frequency and amplitude variances. As an important property of human being’s motion vision, the attention selection mechanism plays a vital part in the regulation of gait movement. In this paper, the CPG model is amended under the condition of attention selection on the theoretical basis of Matsuoka neural oscillators. Regulation of attention selection signal for the CPG model parameters and structure is studied, which consequentially causes the frequency and amplitude changes of gait movement output. Further, the control strategy of the CPG model gait movement under the condition of attention selection is discussed, showing that the attention selection model can regulate the output model of CPG gait movement in three different ways. The realization of regulation on the gait movement frequency and amplitude shows a variety of regulation on the CPG gait movement made by attention selection and enriches the controllability of CPG gait movement, which demonstrates potential influence in engineering applications. 相似文献
4.
The walk of animals is achieved by the interaction between the dynamics of their mechanical system and the central pattern generator (CPG). In this paper, we analyze dynamic properties of a simple walking model of a biped robot driven by a rhythmic signal from an oscillator. In particular, we examine the long-term global behavior and the bifurcation of the motion that leads to chaotic motion, depending on the model parameter values. The simple model consists of a hip and two legs connected at the hip through a rotational joint. The joint is driven by a rhythmic signal from an oscillator, which is an open loop. In order to analyze the bifurcation, we first obtained approximate solutions of the walking motion and then constructed discrete dynamics using the Poincaré map. As a result, we found that consecutive period-doubling bifurcations occur as the model parameter values change, and that the walking motion leads to chaotic motion over the critical value of the model parameters. Moreover, we approximately obtained the period-doubling solutions and the critical value by employing a Newton-Raphson method. Our analytical results were verified by the numerical simulations. 相似文献
5.
In this paper, we analyzed the dynamic properties of a simple walking model of a biped robot driven by a rhythmic signal from
an oscillator. The oscillator receives no sensory feedback and the rhythmic signal is an open loop. The simple model consists
of a hip and two legs that are connected at the hip. The leg motion is generated by a rhythmic signal. In particular, we analytically
examined the stability of a periodic walking motion. We obtained approximate periodic solutions and the Jacobian matrix of
a Poincaré map by the power-series expansion using a small parameter. Although the analysis was inconclusive when we used
only the first order expansion, by employing the second order expansion it clarified the stability, revealing that the periodic
walking motion is asymptotically stable and the simple model possesses self-stability as an inherent dynamic characteristic
in walking. We also clarified the stability region with respect to model parameters such as mass ratio and walking speed. 相似文献
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7.
A simplified model of the thrust force is proposed based on a caudal fin oscillation of an underwater bionic robot. The caudal fin oscillation is generalized by central pattern generators (CPGs). In this model, the drag coefficient and lift coefficient are the two critical parameters which are obtained by the digital particle image velocimetry (DPIV) and the force transducer experiment. Numerical simulation and physical experiments have been performed to verify this dynamic model. 相似文献